Errors occurred in nav2_behavior_tree package after using colcon test

[Plumezz]

Required Info:

• Operating System:
  • Ubuntu22.04
• Computer:
  • x86_64
• ROS2 Version:
  • Humble source
• Version or commit hash:
  • ccc33c8
• DDS implementation:
  • FAST_DDS

Steps to reproduce issue

cd ~/ws/ws_navigation2/src
git clone https://github.com/ros-navigation/navigation2.git -b humble --recursive
cd ../
colcon build
colcon test

Result:
Errors occurred in nav2_behavior_tree package after using colcon test.
here is the nav2_behavior_tree test error.

3:cpplint
5:uncrustify
24:test_single_trigger_node
49:test_action_navigate_through_poses_action

24: test_single_trigger_node

24/58 Testing: test_single_trigger_node
24/58 Test: test_single_trigger_node
Command: "/usr/bin/python3" "-u" "/home/qiguanxiao/ros2_humble/install/ament_cmake_test/share/ament_cmake_test/cmake/run_test.py" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml" "--package-name" "nav2_behavior_tree" "--output-file" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/ament_cmake_gtest/test_single_trigger_node.txt" "--command" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node" "--gtest_output=xml:/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml"
Directory: /home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/decorator
"test_single_trigger_node" start time: Jun 04 09:55 CST
Output:
----------------------------------------------------------
-- run_test.py: invoking following command in '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/decorator':
 - /home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node --gtest_output=xml:/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from SingleTriggerTestFixture
[INFO] [1749002102.248917284] [test_behavior_tree_fixture]: Transforms are available now!
[ RUN      ] SingleTriggerTestFixture.test_behavior
/home/qiguanxiao/ws/ws_navigation2/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:75: Failure
Expected equality of these values:
  bt_node_->executeTick()
    Which is: FAILURE
  BT::NodeStatus::RUNNING
    Which is: RUNNING
/home/qiguanxiao/ws/ws_navigation2/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:77: Failure
Expected equality of these values:
  bt_node_->executeTick()
    Which is: FAILURE
  BT::NodeStatus::SUCCESS
    Which is: SUCCESS
[  FAILED  ] SingleTriggerTestFixture.test_behavior (0 ms)
[----------] 1 test from SingleTriggerTestFixture (1 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (21 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] SingleTriggerTestFixture.test_behavior

 1 FAILED TEST
-- run_test.py: return code 1
-- run_test.py: inject classname prefix into gtest result file '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml'
-- run_test.py: verify result file '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_single_trigger_node.gtest.xml'
<end of output>
Test time =   0.22 sec
----------------------------------------------------------
Test Failed.
"test_single_trigger_node" end time: Jun 04 09:55 CST
"test_single_trigger_node" time elapsed: 00:00:00
----------------------------------------------------------

49: test_action_navigate_through_poses_action

49/58 Testing: test_action_navigate_through_poses_action
49/58 Test: test_action_navigate_through_poses_action
Command: "/usr/bin/python3" "-u" "/home/qiguanxiao/ros2_humble/install/ament_cmake_test/share/ament_cmake_test/cmake/run_test.py" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml" "--package-name" "nav2_behavior_tree" "--output-file" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/ament_cmake_gtest/test_action_navigate_through_poses_action.txt" "--command" "/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/action/test_action_navigate_through_poses_action" "--gtest_output=xml:/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml"
Directory: /home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/action
"test_action_navigate_through_poses_action" start time: Jun 04 09:55 CST
Output:
----------------------------------------------------------
-- run_test.py: invoking following command in '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/action':
 - /home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test/plugins/action/test_action_navigate_through_poses_action --gtest_output=xml:/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from NavigateThroughPosesActionTestFixture
[ RUN      ] NavigateThroughPosesActionTestFixture.test_tick
goals (std::vector<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >) -> full
initial_pose_received (bool) -> full
wait_for_service_timeout (std::chrono::duration<long, std::ratio<1l, 1000l> >) -> full
bt_loop_duration (std::chrono::duration<long, std::ratio<1l, 1000l> >) -> full
server_timeout (std::chrono::duration<long, std::ratio<1l, 1000l> >) -> full
node (std::shared_ptr<rclcpp::Node>) -> full
unknown file: Failure
C++ exception with description "The creation of the tree failed because the port [goals] was initially created with type [std::vector<geometry_msgs::msg::PoseStamped_<std::allocator<void> >, std::allocator<geometry_msgs::msg::PoseStamped_<std::allocator<void> > > >] and, later type [geometry_msgs::msg::PoseStamped_<std::allocator<void> >] was used somewhere else." thrown in the test body.
[  FAILED  ] NavigateThroughPosesActionTestFixture.test_tick (0 ms)
[----------] 1 test from NavigateThroughPosesActionTestFixture (0 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (3 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] NavigateThroughPosesActionTestFixture.test_tick

 1 FAILED TEST
-- run_test.py: return code 1
-- run_test.py: inject classname prefix into gtest result file '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml'
-- run_test.py: verify result file '/home/qiguanxiao/ws/ws_navigation2/build/nav2_behavior_tree/test_results/nav2_behavior_tree/test_action_navigate_through_poses_action.gtest.xml'
<end of output>
Test time =   0.22 sec
----------------------------------------------------------
Test Failed.
"test_action_navigate_through_poses_action" end time: Jun 04 09:55 CST
"test_action_navigate_through_poses_action" time elapsed: 00:00:00
----------------------------------------------------------

LastTest_20250604-0153.log

I also want to know how you view the formatting errors like 3:cpplint of the package? Thanks!

[SteveMacenski]

These are items that were fixed in the main (Jazzy, Kilted, Rolling, probably even Iron) branches long ago. It looks like they didn't get backported to Humble for some reason (possibly related to ABI compatibility).

For the single trigger, check out this set of git history, I'm guessing your solution is in here: https://github.com/ros-navigation/navigation2/commits/main/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp

For the navigate through poses, I think you'd need to find the issue where a PoseStamped instead of a vector is being injected. If memory serves, that was just an issue in the test itself (like a copy+paste error from the navigate to pose tests), not in the application code.

I'm not worried about the linting, some of the backports we did probably broke Humble's styling but were correct styling for the modern linter profiles. If you wanted to submit a PR to fix those, certainly I'd merge them, but I wouldn't worry about them.

[Plumezz]

Thanks a lot for your answers!

[SteveMacenski]

Are you planning on submitting a PR to patch these? :-)

[Plumezz]

Yes, I will try my best to patch these in my free time and submit a PR, maybe a week.

[SteveMacenski]

@Plumezz any update?

[SteveMacenski]

@Plumezz any update?

[Plumezz]

Hello, I am not sure what your update is about. Is it the unit test issue or a format issue? I have already submitted a PR for the format issue. But I have not yet analyzed the unit test issues in depth. Sorry.

[SteveMacenski]

The test issue, I thought you mentioned that you were planning on fixing and opening a PR :-)

Got it!

[jncfa]

I would be available to work on the backport to fix these tests if it's still up for grabs